why judge degenerate by eigenvalue less than 10 ?

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

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why judge degenerate by eigenvalue less than 10 ? #180

Closed chennuo0125-HIT closed 4 years ago

chennuo0125-HIT commented 4 years ago

https://github.com/RobustFieldAutonomyLab/LeGO-LOAM/blob/aa37d0a9553f94ec5c59755cf5fb0a15f84a53f4/LeGO-LOAM/src/featureAssociation.cpp#L1337 I don't know why judge degenerate as above method?

stale[bot] commented 4 years ago

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AlexSeongJu-sr commented 3 years ago

I have the same question. Why do u judge degeneracy by value 10? does anyone know?